IAI America ERC3 - Manual (Page 176)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
166
[3] Power Supply and Emergency Stop Release (CP, MP, EMG, PEND)
············································································ [Refer to 3.1.3 Circuit Diagram]
1) Supply the control power (CP, CP_GND), first.
2) Secondly, turn ON the motor power source (MP, MP_GND) and the emergency stop signal
EMG at the same time. Do not attempt to turn ON the emergency stop signal EMG prior to
the motor power source.
The controllers get into the servo-on status by the emergency stop signal EMG being ON.
For Pattern 1 and 3, the positioning complete signal PEND turns ON at the same time. Also
for an actuator equipped with a brake, the brake is released by the servo being turned ON.
3) If the emergency stop signal EMG turns OFF, the servo also turns OFF. Have the motor
power (MP, MP_GND) cut off at the same time. Do not attempt to cut off the motor power
(MP, MP_GND) prior to the emergency stop signal EMG being turned OFF.
By turning the servo OFF, the positioning complete signal PEND also turns OFF. For an
actuator equipped with a brake, the brake gets to the operating condition.
EMG
Servo
T 26ms
Lock
Release
PEND
Brake Excitation
T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1
+ T2) × Number of retry (10 times Max.) + Servo ON delay
time (T3)
T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3)
T1 : Parameter No.30 It differs depending on the setting of excitation detection type.
Set Value = 0 ĺ 160ms
Set Value = 1, 2 ĺ 220ms
T2 : Parameter No.29 Setting of excitation phase signal detection time
It is set to 10ms in the initial setting.
T3 : Fixed to 20ms
(Note) • Excitation detection operation of the motor is conducted at the first servo-on after the
power is turned ON.
• PEND would not turn ON if the pause signal *STP is OFF.